US4328545A - Driverless vehicle autoguide by light signals and two directional detectors - Google Patents
Driverless vehicle autoguide by light signals and two directional detectors Download PDFInfo
- Publication number
- US4328545A US4328545A US06/062,902 US6290279A US4328545A US 4328545 A US4328545 A US 4328545A US 6290279 A US6290279 A US 6290279A US 4328545 A US4328545 A US 4328545A
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- vehicle
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- beacons
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- 238000001514 detection method Methods 0.000 claims description 5
- 230000023077 detection of light stimulus Effects 0.000 claims 1
- 230000004044 response Effects 0.000 claims 1
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- 238000004891 communication Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Definitions
- This invention relates to an unmanned vehicle guided towards a goal particularly to a vehicle guided by light signals.
- Driverless vehicles are in common use especially in automatic warehouses and many are guided along predetermined paths which are either wires embedded in the floor or light beams marking out the track to be followed.
- a vehicle moveable within a predetermined area having navigational means for determining its position and orientation in combination with a plurality of beacons which are located at stations fixed with respect to the area such that the vehicle, when in any position within the area, can receive light from at least two fixed stations;
- the navigational means comprising at least two direction-sensitive light detectors mounted on the vehicle, each detector comprising means for detecting light which it receives from the beacons, and means responsive to the detection of that light for indicating the direction from which the light is received, thereby to obtain bearings of each fixed station with respect to the orientation of the vehicle; and means to correlate the bearings thereby obtained with the positions of the fixed stations with respect to the area and the positions of the detectors with respect to the vehicle.
- Correlations of the obtained bearings with the positions of the fixed stations and of the detectors to determine the position and orientation of the vehicle are most readily carried out using a computer. This may then also be used for influencing the mechanical controls for the movement and steering of the vehicle in such a way that the vehicle is guided towards predetermined destinations.
- the beacons suitably comprise constant omnidirectional light sources, although where higher power is required the light may be generated as a collimated beam or by using other suitable intense light sources for example a laser or a xenon-flasher suitably backed by a parabolic-mirror, constructed so that the collimated beam can sweep a horizontal circle.
- the signals may be generated by reflective or fluorescent objects illuminated by general background lighting or preferably illuminated specifically from a light source mounted on the vehicle.
- the detectors may then observe two different reflectors at known fixed stations or they may observe the extremities of one large reflector, these extremities providing the beacons at fixed stations.
- light we mean electromagnetic waves having wavelengths from 300 nm to 3,000 nm including visible, infra-red and ultraviolet wavelengths. Visible light is more easily generated, controlled and observed than light of other wavelengths for example when tested by maintenance personnel and we prefer to use visible wavelengths whenever possible.
- Each detector preferably comprises means for receiving light unidirectionally from the beacons, and means are provided for rotatably mounting the light-receiving means so that it receives light from each direction in turn as it rotates.
- the detector may be conventional light receivers having for example, only a vertical slit aperture for their sensitive area.
- An informing device which provides a signal which changes in discrete steps as the detector rotates is preferred, especially one in which the signal is in binary code with each step represented by an exclusive binary word.
- the binary code preferred is the Gray Code, and this may suitably be provided in the form of a shaft-angle and coder with a Gray Code commutator.
- the use of two detectors only on the vehicle provides a workable arrangement in the majority of positions and orientations of the vehicle and arrangements of light sources: it has the advantage of a minimum number of components used with consequent advantages in the simplicity of processing the information therefrom by the computer.
- the two detectors and one light source it is possible for the two detectors and one light source to be linear or nearly so and in this arrangement the navigation becomes imprecise. It would be preferable therefore to give instruction to the vehicle when this situation is detected to turn through an angle sufficient to bring the vehicle axis and hence the detectors into a triangular position with the light once again.
- a superior embodiment of the invention would be to have at least three detectors mounted on the vehicle in triangular array, two of which are in use for navigation at any one time. If the two in use became collinear with the light source switching would automatically operate on the vehicle to bring the third detector into operation with one of the other two.
- the constant known information i.e. the positions of the first station with respect to the area and the positions of the detectors on the vehicle, together with the derived information, i.e. the measured bearings, is sufficient to calculate both the orientation and the position of the vehicle.
- the distance between the detector and the beacons is immediately calculable.
- the simple geometrical calculation applies only when the vehicle is stationary because detection by the two detectors of light from any one beacon will not normally occur simultaneously, the order depending on the direction of rotation of the detectors.
- the vehicle If the vehicle is moving its motion can, in general, be resolved into two components parallel and perpendicular to the direction of the beam from the beacon, and any perpendicular component of velocity will result in some error in the calculation; but this can be allowed for by using a correlated value for L, i.e. L ⁇ L.
- L correlated value for L
- the correction becomes increasingly important if the velocity of the vehicle becomes comparable with the speed of sweep of the detectors, although at low speeds the correction can normally be neglected. Nevertheless, it is preferred, as a matter of routine, to rotate the detectors synchronously, e.g. as described in more detail hereinafter, so that the largest errors which could otherwise be caused by such movement may be avoided.
- unmanned vehicles include barges floating on water, hovercraft, track laying vehicles steered by means of the tracks as employed in military tanks, and the more common types of wheeled vehicles steered by means of the wheels.
- the preferred embodiment would be a four wheeled vehicle, normally steered by the front wheels, in accordance with known motor vehicle practice, but for close maneuvering in confined spaces such as the aisles between rows of warehouse racking, the preferred embodiment would include the provision of a limited degree of auxiliary steering of the rear wheels.
- Each vehicle is therefore preferably fitted with an individual collision avoidance system, for example a reflective sonar, tactile or a radar device which will prevent the vehicle colliding with either another moving vehicle or a stationery object.
- the detectors may be pressure sensitive switches, other tactile devices or light reflectors.
- each unmanned vehicle should be equipped with a nett-weight measuring transducer enabling load comparisons to be made.
- FIG. 1 is a perspective sketch of an unmanned vehicle showing the component parts
- FIG. 2 is a block diagram of the computer control system for operation of the unmanned vehicle
- FIG. 3 is a block diagram of a photo detector assembly and the operation thereof in relation to the control system.
- FIG. 4 is a geometrical drawing of the navigational information to be computed on-board the vehicle.
- the vehicle shown in FIG. 1 has front and rear bumpers 1, 2 optionally fitted with switching to stop the vehicle if there is any impact of either bumper with other objects.
- Front wheels 3, are fitted with the main steering control but power driven rear wheels 4, are also capable of being steered to increase manoevrability of the vehicle in confined spaces.
- Front and rear equipment enclosures 5, 6 house electric storage batteries, drive motors, fuel tank (if vehicle powered by an internal combustion engine) and control systems for drive motors, steering mechanisms and load positioning.
- a computer with a memory and a radio-communications link to a supervisory computer are also contained in these equipment enclosures.
- Panels 7, 8 on the front and sides of the equipment enclosure contain close-proximity detectors which may be tactile sensors, sonar sensors or some other conventional form of accurate alignment of the vehicle with other surfaces for example loading and unloading stations.
- a load-carrying platform 9 may be raised by lifting mechanism 10 sliding up and down pillars 11 which are constructed as a framework fore and aft of the load platform.
- the platform may be projected sideways in order to set down or pick-up a load.
- Navigational detectors 12 are mounted on masts 13 in order to give them a view of beacons uninterrupted by the body of the vehicle.
- communication between the unmanned vehicle and a remote supervisor (not shown) from which the unmanned vehicle receives instructions to perform tasks is achieved by means of a radio receiver/transmitter but other means of communication such as inductive loops or sound waves could be employed.
- the task instructions (which typically would specify a source location from which a load is to be picked up and a desired destination to which that load is to be transported and set down) provide one set of inputs to the on-board computer 14 and are stored in the computer memory 15 which also contains a map of the operational area of the vehicle. Additional computer inputs from navigation detectors 16, coarse and fine proximity detectors 17 and 18 and the load weighing system 19 are used to calculate a first collision-free course to the source location, and the vehicle automatically travels so that location by means of vehicle position control systems 20, 21, 22 and 23. On arrival at the source location the vehicle is halted and the load picked-up by means of the load position controls 24, 25, 26, 27 and 28.
- a second collision free course from source to destination is then calculated by the computer in conjunction with the instructions stored in memory 15 and data inputs 16, 17, 18 and 19, and the vehicle automatically travels to that desired destination by means of vehicle position controls 20, 21, 22 and 23.
- the computer On completion of this task the computer generates a task performed signal which is transmitted back to the supervisor via radio receiver/transmitter.
- a collimated photo-detector 29 is coupled by mechanical couplings 30 to a stepping motor 31 and Gray code disc 32, such that the motor, code disc and photo detector rotate in unison.
- the coded output of the Gray code disc 32 passes through a zero datum value preferably when the photo detector is aligned with the forward axis of the vehicle, and in all other positions corresponds to the angle of reception of a beam of light with respect to that datum.
- the output of Gray code disc 32 forms a first input to the computer 14 and the output of photo detector 29 forms a second input to computer 14.
- Gray code disc 32 indicates the angle of reception to computer 14.
- at least two rotating photo detector assemblies of the type described are necessary and they must all rotate synchronously both in speed and in phase.
- Gray code comparator 33 has a first input representing actual angular rotation from Gray code disc 32 and a second input representing desired angular rotation from Gray code counter 35.
- Gray code counter 35 is fed with a pulse train from clock pulse generator 36 which would normally be of constant frequency but which might be arranged to increase in frequency at faster vehicle speeds.
- Gray code counter 35 increases from zero to full scale as pulses are received and overflows to zero once the full scale value has been reached, thus producing a cycle of Gray code values corresponding to those of the rotating Gray code disc 32.
- the Gray code counter 35 provides the desired angular rotation signal to each of the plurality of rotating photo detector assemblies on the unmanned vehicle.
- R and S are two angle-coded photodetectors on an unmanned vehicle.
- T and U are two beacons located at known positions M apart. The location of the vehicle can be computed by solving triangles RST and RSU by known sine law and then solving triangles UTS and URS by the same method.
- the relative bearing ⁇ of the vehicle can be computed by angle comparison or by applying Freudenstein's equation for a four bar linkage as described in Transactions of American Society of Mechanical Engineers, August 1955, pages 853-861.
- the precision of the navigational system has been calculated using a computer programme on which many different situations for the arrangement of beacons and vehicles could be simulated. It was assumed throughout the calculations that the angular resolution of both the emitters and detectors was 2 ⁇ /1024 radians. This was thought to be a practical value for components which would not be too expensive but if components having a finer resolution are available the precision of the navigation will be correspondingly improved.
- the precision of navigation in restricted areas could be improved using the memory of the computer on board the vehicle.
- the history of movements and positions immediately preceding the entry into the restricted area can be used to reduce the error considerably: in general using "N" previous observations, the error may be improved by a factor of approximately ⁇ N.
- the maximum positional errors may be as great as 8 units along the aisle but only 0.2 units across the aisle.
- 16 previous observations are remembered and used to assess the position as the vehicle travels along the aisle the positional errors in a longitudinal direction may be reduced by a factor of four to 2 units.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Electromagnetism (AREA)
- Economics (AREA)
- Human Resources & Organizations (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Strategic Management (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Operations Research (AREA)
- Marketing (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB7831850 | 1978-08-01 | ||
GB7831850 | 1978-08-01 |
Publications (1)
Publication Number | Publication Date |
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US4328545A true US4328545A (en) | 1982-05-04 |
Family
ID=10498797
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US06/062,902 Expired - Lifetime US4328545A (en) | 1978-08-01 | 1979-08-01 | Driverless vehicle autoguide by light signals and two directional detectors |
Country Status (4)
Country | Link |
---|---|
US (1) | US4328545A (ja) |
EP (1) | EP0007789B1 (ja) |
JP (1) | JPS5525199A (ja) |
DE (1) | DE2966785D1 (ja) |
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Also Published As
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DE2966785D1 (en) | 1984-04-19 |
EP0007789A3 (en) | 1980-02-20 |
EP0007789A2 (en) | 1980-02-06 |
JPS5525199A (en) | 1980-02-22 |
EP0007789B1 (en) | 1984-03-14 |
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